潜艇操纵控制系统仿真平台设计与实现

Design and realization of the submarine maneuver controlling system simulation platform

从潜艇操纵控制仿真系统的实际功能需求出发,构建了潜艇操纵控制系统仿真平台。合理简化潜艇运动六自由度模型,将自抗扰控制技术引入潜艇航向及深度控制系统中,用分平面法设计了潜艇航向和深度自抗扰控制舵。采用面向对象的编程技术,设计开发了仿真平台的控制系统实时界面、完成了对潜艇运动控制方程的解算,并在仿真平台上分别进行了系统软件模拟操纵、潜艇垂直面运动控制、狭窄水道航行训练视景仿真等实验,仿真结果表明仿真平台软硬件设计合理、自动控制舵的控制性能良好,实现了操作人员和虚拟环境的交互。

Based on the practical requirements of the movement controlling simulation system, a maneuvering simulation platform was constructed. The submarine movement model was achieved by simplifying the Gertler equations and the method on how to design submarine course and depth auto disturbance rejection controllers was proposed. The submarine course auto disturbance rejection controller and depth auto disturbance rejection controller were designed based on the dividing - plane method. The real-time manipulative interface based on the object oriented programming technique was realized and the submarine movement equations were also solved. Experimentations such as practical simulation test, vertical plane movement control and simulation training at the narrow waterway were made through the simulation platform. The simulation results show that the software and hardware are designed feasibly, the auto disturbance rejection controllers have good control performance and the interaction between manipulator and the virtual environment is achieved.